Self-service knife sharpening kiosk

ABSTRACT

A self-service knife-sharpening kiosk is disclosed. The kiosk may have a housing and a board within the housing. The board may be configured to receive a knife. The kiosk may have an imaging device configured to scan a cutting edge of the knife. Further, the kiosk may have a sharpening wheel configured to sharpen the cutting edge. The kiosk may also have a manipulator disposed within the housing. The manipulator may be configured to pick up the knife from the board. The manipulator may also be configured to orient the knife in a first position such that the imaging device detects the cutting edge of the knife. The manipulator may be configured to orient the knife in a second position such that the cutting edge of the knife contacts the sharpening wheel. The manipulator may also be configured to replace the at least one knife on the board.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims benefit of priority of U.S. Provisional Patent Application No. 62/678,337, filed May 31, 2018, which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates generally to a self-service kiosk and more particularly to a self-service knife sharpening kiosk.

BACKGROUND

Most knives, whether they are kitchen knives, dining knives, utility knives, or knives for combat, spend most of their operational lives at sub-optimal sharpness. Standard use, incorrect handling and storage, and constant ambient oxidation and weathering all contribute to degradation of the sharpness of a knife. The process of re-sharpening a knife to its original performance and specification requires skill. Moreover, re-sharpening also requires a post-sharpening polishing step, which is not considered in most home knife sharpening tools.

A higher quality re-sharpening may be obtained at a hardware store or by engaging the services of knife smith. But these approaches are low dollar value, and labor and time intensive transactions. As a result, retail stores typically do not offer knife re-sharpening services and instead may opt to provide other more profitable products and/or services. Therefore, there exists a need to provide easy to use, low cost, and efficient tools and methods to allow everyday users to re-sharpen their knives.

The self-service knife sharpening kiosk of the present disclosure solves one or more of the problems set forth above and/or other problems of the prior art.

SUMMARY

In one aspect, the present disclosure is directed to a self-service knife-sharpening kiosk. The kiosk may include a housing. The kiosk may also include a board located within the housing and configured to receive at least one knife. The kiosk may include an imaging device configured to scan a cutting edge of the at least one knife. Further, the kiosk may include a sharpening wheel configured to sharpen the cutting edge. The kiosk may also include a manipulator disposed within the housing. The manipulator may be configured to pick up the at least one knife from the board. The manipulator may also be configured to orient the at least one knife in a first position such that the imaging device detects the cutting edge of the at least one knife. Further, the manipulator may be configured to orient the at least one knife in a second position such that the cutting edge of the knife contacts the sharpening wheel. In addition, the manipulator may be configured to replace the at least one knife on the board.

In yet another aspect, the present disclosure is directed to a method of sharpening at least one knife. The method may include receiving at least one knife on a board associated with a self-service knife sharpening kiosk. The method may also include detecting the at least one knife on the board using a camera. Further, the method may include picking up the at least one knife, using a manipulator. The method may include orienting, using the manipulator, the at least one knife in a first position. The method may also include scanning a cutting edge of the at least one knife using the camera when the at least one knife is oriented in the first position. The method may further include orienting, using the manipulator, the at least one knife in a second position in contact with a sharpening wheel. The method may include traversing the sharpening wheel relative to the cutting edge generally along a major axis of the knife while maintaining contact between the sharpening wheel and the knife. In addition, the method may include replacing the knife on the board using the manipulator.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of an exemplary self-service knife-sharpening kiosk;

FIG. 2 is a flowchart illustrating an exemplary method of sharpening a knife in the self-service knife sharpening kiosk of FIG. 1;

FIG. 3 is an illustration of an exemplary user interface associated with the knife sharpening kiosk of FIG. 1; and

FIG. 4 is an illustration of another exemplary user interface associated with the knife sharpening kiosk of FIG. 1.

DETAILED DESCRIPTION

FIG. 1 illustrates an exemplary self-service knife sharpening kiosk 10. Kiosk 10 may be a small structure that may be configured to provide knife sharpening services. For example, kiosk 10 may be a self-service kiosk configured to allow a user to place one or more knives in kiosk 10 and retrieve the one or more knives after being re-sharpened. Kiosk 10 may have a size and shape similar to, for example, a telephone booth, an ATM machine, or a vending machine usually available at commercial or retail locations such as at grocery or hardware stores, shopping malls, or airports. In one exemplary embodiment, kiosk 10 may have a width “W” of about 35″, a depth “D” of about 25″, and may occupy a floor area of about 6 square feet to minimize the floor space occupied by kiosk 10 in the commercial or retail location. In other exemplary embodiments, the kiosk may have a width W of about 24″, a depth D of about 24″ and a height of about 30″. It is contemplated, however, that kiosk 10 may have dimensions different from those discussed above.

Kiosk 10 may include housing 12, payment capture device 14, board 16, manipulator 18, vision system 20, sharpening system 22, and controller 24. Housing 12 of kiosk 10 may be in the form of an enclosure which may enclose payment capture device 14, board 16, manipulator 18, vision system 20, sharpening system 22, and controller 24. Housing 12 may have a generally cuboidal shape, although other shapes of housing 12 are also contemplated. In one exemplary embodiment as illustrated in FIG. 1, housing 12 may have side walls 26, 28, 30, 32, top wall 34, and base 36. One or more of walls 26, 28, 30, 32, 34, 36 may have a generally flat shape, although curved walls are also contemplated. One or more of walls 26, 28, 30, 32, 34 may also be transparent, translucent, or opaque. Each of side walls 26, 28, 30, 32 may extend from top wall 34 to base 36. In one exemplary embodiment as illustrated in FIG. 1, side walls 26 and 28 may be disposed generally parallel to and spaced apart from each other. Likewise, side walls 30 and 32 may be disposed generally parallel to and spaced apart from each other. Top wall 34 may be disposed generally parallel to and spaced apart from base 36. In one exemplary embodiment as illustrated in FIG. 1, top wall 34 and base 36 may be disposed generally perpendicular to a vertical axis of kiosk 10. Top wall 34 may be connected to side walls 26, 28, 30, and 32. Similarly, base 36 may be connected to side walls 26, 28, 30, and 32. The term generally as used in this disclosure should be interpreted to mean that the relative orientations encompass typical manufacturing tolerances.

In one exemplary embodiment as illustrated in FIG. 1, housing 12 may include a lower portion 38 and an upper portion 40. Payment capture device 14 may be positioned in lower portion 38, for example, on side wall 26 which may include an outside surface of housing 12. It is contemplated, however, that payment capture device 14 may instead be positioned in upper portion 40. Payment capture device 14 may be a credit card or debit card reader. It is also contemplated that in some exemplary embodiments, payment capture device 14 may be configured to accept other types of payment such as currency, checks, or other forms of electronic payment. In some exemplary embodiments, payment capture device 14 may be configured to receive payment via wireless communication with another electronic device, for example, a mobile phone, a tablet computer, a laptop computer, a remote server, etc. Housing 12 may include a single payment capture device 14 that may be capable of receiving one or more types of payment described above. Alternatively, housing 12 may include more than one payment capture device 14, each of which may be capable of receiving a particular type of payment. It is also contemplated that in some exemplary embodiments, kiosk 10 may include a printer (not shown) in addition to or instead of payment capture device 14. The printer may be configured to print out a receipt capable of being scanned by a point-of-sale system and containing appropriate information for the retail store's point-of-sale system to charge a correct price to a user. Such a configuration may be implemented, for example, when a retail store requires all payment to be made at a point-of-sale system instead of at kiosk 10.

As illustrated in FIG. 1, lower portion 38 and upper portion 40 of housing 12 may be separated by board 16, which may be spaced apart from base 36 and positioned between top wall 34 and base 36. In one exemplary embodiment as illustrated in FIG. 1, board 16 may be in the form of a generally flat surface, as embodied in, for example, a cutting board base disposed within housing 12. Board 16 may be configured to receive one or more knives 42 via opening 44 in side wall 26. Thus, for example, a user may be able to place one or more knives 42 on board 16 through opening 44. Opening 44 may have a rectangular shape although other shapes for opening 44 are also contemplated.

As also illustrated in FIG. 1, door 46 may be configured to selectively open or close opening 44. Door 46 may be configured to slidingly move relative to side wall 26. Door 46 may be configured to slide upward parallel to side wall 26 to reveal opening 44 in side wall 26. When door 46 is in its open position, a user may be able to place one or more knives 42 on board 16 via opening 44. Door 46 may be configured to slide downward to cover opening 44. When door 46 is in its closed position, it may completely cover opening 44, preventing any item from being placed on board 16 or from being removed from board 16. Door 46 may be equipped with door motor 48, which may be configured move door 46 in an upward or downward direction relative to opening 44. Sensors 50 and 52 may be disposed on one or both of side wall 26 and/or door 46. Sensor 50 may be located adjacent an upper portion of opening 44, nearer to top wall 34 relative to board 16. Sensor 50 may be configured to detect an open position of door 46 relative to opening 44. Sensor 52 may be located adjacent a lower portion of opening 44, nearer to board 16 than to top wall 34. Sensor 52 may be configured to detect a closed position of door 46 relative to opening 44. In one exemplary embodiment, sensors 50 and 52 may be proximity sensors configured to detect a position of door 46 relative to upper edge 54 and lower edge 56, respectively, of opening 44. It is contemplated that sensors 50, 52 may include other types of sensors (e.g. magnet and reed switch) to detect the open or closed position of door 46. Door 46 may also include door lock 58, which may be configured to lock door 46 in its closed position to ensure opening 44 remains covered. Door lock 58 may be configured to prevent a user from opening door 46 and inserting or extracting an item (e.g. knife 42) from board 16 via opening 44. Although FIG. 1 illustrates opening 44, door 46, sensors 50, 52, and lock 58 as being associated with side wall 26, it is contemplated that some or all of these elements may instead be associated with one or more of any of side walls 26, 28, 30, or 32.

Manipulator 18 may include manipulator base 60, pivot arm 62, gripper arm 64, and end effector 66. Manipulator base may be attached to top wall 34, although it is contemplated that manipulator 18 may instead be attached to any of side walls 26, 28, 30, or 32, or to board 16. Pivot arm 62 may be pivotably attached to manipulator base 60. Pivot arm 62 may be configured to be rotatable in at least one plane disposed generally perpendicular to manipulator base 60. It is contemplated that a plane of rotation of pivot arm 62 may be generally parallel to or inclined relative to one or more of side walls 26, 28, 30, or 32. It is also contemplated that pivot arm 62 may additionally be configured to be rotatable in a plane disposed generally parallel to top wall 34. Gripper arm 64 may be pivotably attached to a free end of pivot arm 62. Gripper arm 64 may be configured to be rotatable in a plane generally parallel to top wall 34. It is contemplated however, that gripper arm 64 may additionally be configured to be rotatable in at least one plane disposed generally perpendicular to manipulator base 60. End effector 66 may be pivotably attached to a free end of gripper arm 64. End effector 66 may also be configured to be rotatable in one or more planes disposed perpendicular to top wall 34 and/or in a plane generally parallel to top wall 34. End effector 66 may include fingers 68 that may be spaced apart from each other. Fingers 68 may be configured to be movable relative to each other and may be configured to grasp (or grip) and/or pick up a variety of objects within kiosk 10.

In one exemplary embodiment as illustrated in FIG. 1, one or more knives 42 may be located on board 16. Knife 42 may include handle 70, non-sharp side 72, and cutting edge 74. The one or more knives 42 may be placed on board 16 by a user, for example, a customer desiring to sharpen knives 42. It is also contemplated that kiosk 10 may include one or more demo knives (not shown). The demo knives may be located in the kiosk in a position such that a user may not be able to remove them from kiosk 10 even when door 46 is in its open position. Kiosk 10 may use the demo knives to demonstrate the sharpening process of kiosk 10 when kiosk 10 is not in use by a customer for sharpening the customer's knives. Although knives 42 are discussed in the following description it is to be understood that kiosk 10 and its components would manipulate and or perform the same processes on the demo knives.

Fingers 68 of end effector 66 may be configured to grasp knife 42 by handle 70 or non-sharp side 72 of knife 42 which may include a sharp cutting edge 74. Manipulator 18 may be equipped with one or more motors (not shown) that may be configured to cause rotation of pivot arm 62, gripper arm 64, and/or end effector 66, and/or movement of fingers 68. In one exemplary embodiment, manipulator 18 may be a multi-axis robotic manipulator configured to be operated and controlled by controller 24.

Vision system 20 may include imaging devices 80 and 82. Although only two imaging devices 80 and 82 are illustrated in FIG. 1, it is contemplated that kiosk 10 may include any number of imaging devices 80, 82. Imaging device 80 may include an omniscient camera 80, which may be mounted at a corner defined by, for example, side walls 26 and 32, and top wall 34. Omniscient camera 80 may be configured to image nearly an entire space included in upper portion 40 of housing 12. Omniscient camera 80 may also be configured to detect a presence of one or more knives 42 placed on board 16. Camera 80 may detect the presence of the one or more knives 42 through a combination of recognizing motion and placement of knives 42 on board 16. Omniscient camera 80 may be configured to use machine vision algorithms to detect a number of knives 42 placed on board 16. Omniscient camera 80 may also be configured to use machine vision and shape recognition algorithms to detect sizes and shapes of the one or more knives 42 placed on board 16. Further, omniscient camera 80 may cooperate with controller 24 to help ensure end effector 66 of manipulator 18 may be positioned to allow fingers 68 to grasp handle 70 or non-sharp edge 72 of knife 42.

Imaging device 82 may include a 2D or 3D camera positioned on side wall 32. Camera 82 may be configured to scan cutting edge 74 of knife 42. Camera 82 may be attached to camera carriage 84. In one exemplary embodiment as illustrated in FIG. 1, camera carriage 84 may extend generally vertically along side wall 32 from board 16 to top wall 34. It is contemplated, however that in some exemplary embodiments, camera carriage 84 may be disposed at an angle. Camera carriage 84 may include one or more tracks, chains, or other conveyor systems configured to move camera 82 along a vertical axis. In some exemplary embodiments, camera carriage 84 may be a motorized carriage. Although camera 82 and camera carriage 84 are illustrated as being associated with side wall 32, it is contemplated that camera 82 and camera carriage 84 may be located on any of side walls 26, 28, 30, or 32.

Sharpening system 22 may include sharpening wheel 90 and polishing wheel 92. Sharpening wheel may be a motorized sharpening wheel equipped with a dedicated motor configured to rotate sharpening wheel 90. Sharpening wheel 90 may include abrasive grains made of materials such as aluminum oxide, silicon carbide, ceramics, diamond, or other known abrasive materials. Sharpening wheel 90 may be configured to sharpen cutting edge 74 of knife 42 when cutting edge 74 is brought into contact with sharpening wheel 90. Sharpening wheel 90 may be rotatably attached to sharpening wheel base 94, which in turn may be attached to sharpening carriage 96.

In one exemplary embodiment as illustrated in FIG. 1, sharpening carriage 96 may extend generally vertically along side wall 30 from board 16 to top wall 34. Sharpening carriage 96 may include one or more tracks, chains, or other conveyor systems configured to move sharpening wheel base 94 generally along a vertical axis. It is contemplated, however that in some exemplary embodiments, sharpening carriage 96 may be disposed at an angle and may be configured to move sharpening wheel base 94 at an angle relative to the vertical axis. In some exemplary embodiments, sharpening carriage 96 may be a motorized carriage. Although sharpening wheel 90, sharpening wheel base 94 and sharpening carriage 96 are illustrated as being associated with side wall 30, it is contemplated that sharpening wheel 90, sharpening wheel base 94 and sharpening carriage 96 may be located on any of side walls 26, 28, 30, or 32.

Furthermore, although only one sharpening wheel 90 is illustrated in FIG. 1, it is contemplated that more than one sharpening wheels 90 may be rotatably attached to sharpening wheel base 94. When equipped with more than one sharpening wheel 90, the sharpening wheels 90 may be inclined relative to each other and/or spaced apart relative to each other to help ensure a desirable cutting edge profile may be generated when such sharpening wheels 90 are brought into contact with cutting edge 74 of knife 42.

Polishing wheel may be a motorized polishing wheel equipped with a dedicated motor configure to rotate polishing wheel 92. Polishing wheel 92 may include finer abrasive grains compared to the abrasive grains used on sharpening wheel 90. The abrasive grains on the polishing wheel may also include materials such as aluminum oxide, silicon carbide, ceramics, diamond, or other known abrasive materials. In some exemplary embodiments, polishing wheel 92 may be made of leather. Polishing wheel 92 may be configured to polish cutting edge 74 of knife 42 to, for example, a near mirror like finish, when cutting edge 74 is brought into contact with polishing wheel 92. Polishing wheel 92 may be rotatably attached to polishing wheel base 98, which in turn may be attached to polishing carriage 100.

In one exemplary embodiment as illustrated in FIG. 1, polishing carriage 100 may extend vertically along side wall 28 from board 16 to top wall 34. Polishing carriage 100 may include one or more tracks, chains, or other conveyor systems configured to move polishing wheel base 98 and polishing wheel 92 along a generally vertical axis. It is contemplated, however that in some exemplary embodiments, polishing carriage 100 may be disposed at an angle and may be configured to move polishing wheel base 98 at an angle relative to the vertical axis. In some exemplary embodiments, polishing carriage 100 may be a motorized carriage. Although polishing wheel 92, polishing wheel base 98 and polishing carriage 100 are illustrated as being associated with side wall 28, it is contemplated that polishing wheel 92, polishing wheel base 98 and polishing carriage 100 may be located on any of side walls 26, 28, 30, or 32. Although camera carriage 84, sharpening carriage 96, and polishing carriage 100 have been illustrated in FIG. 1 as being located on different side walls 32, 30, and 28, respectively, it is contemplated that some or all of camera carriage 84, sharpening carriage 96, and polishing carriage 100 may be located on the same or different side walls 26, 28, 30, 32.

Furthermore, although only one polishing wheel 92 is illustrated in FIG. 1, it is contemplated that more than one polishing wheels 92 may be rotatably attached to polishing wheel base 98. When equipped with more than one polishing wheel 92, the polishing wheels 90 may be inclined relative to each other and/or spaced apart relative to each other to help ensure a desirable cutting edge profile may be generated when such polishing wheels 90 are brought into contact with cutting edge 74 of knife 42.

Kiosk 10 may also include cleaner device 110, display 112, speaker 114, modem 116, and stop button 118. In one exemplary embodiment as illustrated in FIG. 1, cleaner device 110, display 112, speaker 114, modem 116, and stop button 118 may be located in lower portion 38 of kiosk 10. It is contemplated, however, that one or more of cleaner device 110, display 112, speaker 114, modem 116, and stop button 118 may instead be located in upper portion 40. Cleaner device 110 may be a vacuum cleaner configured to pick up and/or suction away dust and/or debris from within kiosk 10. Vacuum cleaner 110 may include vacuum cleaner tube 120. Manipulator 18 may be configured to grasp an end of vacuum cleaner tube 120 and may be further configured to traverse the end of vacuum cleaner tube 120 to a plurality of locations within kiosk 10 (e.g. adjacent sharpening wheel 90 and/or polishing wheel 92) to allow vacuum cleaner 110 to remove dust and/or debris from an interior of kiosk 10.

Display 112 may be positioned on one of side walls 26, 28, 30, 32 of kiosk 10. In one exemplary embodiment as illustrated in FIG. 1, display 112 may be located in lower portion 38 of kiosk 10 on side wall 26. Display 112 may include a conventional display device, for example, an LCD screen, an LED screen, a cathode ray tube screen, etc. In some exemplary embodiments, display 112 may be configured to display a graphical user interface (e.g. graphical user interface 130 in FIG. 3), including instructions and/or advertising or other information. In some exemplary embodiments, display 112 may additionally or alternatively include a touch screen device configured to receive one or more inputs from a user. Thus, for example, a graphical user interface (e.g. 130) displayed on display 112 may allow a user to select knives for sharpening, accept or reject a displayed price, and or request help on using the knife sharpening kiosk 10. In some exemplary embodiments, graphical user interface (e.g. 130) may be configured to display a virtual keyboard or numeric keypad, which may allow a user to enter payment information, address information, and/or other information associated with sharpening of one or more knives 42 using kiosk 10. In other exemplary embodiments, kiosk 10 may include input devices such as one or more physical keyboards, mice, joysticks, buttons, touch pads, etc., in addition to or instead of display 112. Thus, a user interface of kiosk 10 may include one or more of a graphical user interface (e.g. 130) and/or the above-described physical or virtual input devices. The user interface of kiosk 10 may allow kiosk 10 to receive inputs from a user. Additionally or alternatively, the user interface of kiosk 10 may include gesture sensing devices configured to allow a user to provide one or more inputs to kiosk 10.

Speaker 114 may be an audio speaker and may be configured to provide audio instructions to a user of kiosk 10. Speaker 114 may also be configured to provide audio alerts, and/or to play soundtracks associated with advertising or marketing information being displayed on display 112. Modem 116 may be a cellular, wireless, or wide-area-network modem configured to allow kiosk 10 to send and/or receive data and/or instructions wirelessly to or from another device, which may be located remotely. Modem 116 may communicate status information regarding kiosk 10, which may include data regarding one or more transactions made at kiosk 10, payment information, a condition of one or more demo knives, a condition of one or more sharpening wheels 90 and/or polishing wheels 92, alerts indicating whether the one or more components of kiosk 10 required maintenance or repair, and/or any other type of information or data required for operation of kiosk 10. It is further contemplated that kiosk 10 may exchange data and/or instructions with other kiosks 10 located remotely via modem 116.

Stop button 118 may allow a user or another operator to halt operations of kiosk 10 at the push of a button. For example, activation of stop button 118 may cut off power to some or all portions of kiosk 10 so that operation of one or more of manipulator 18, door 46, imaging devices 80, 82, sharpening wheel 90, and/or polishing wheel 92 may be halted.

Controller 24 may include one or more processors 122 and/or one or more memory devices 124. Controller 24 of kiosk 10 may be configured to control operations of payment capture device 14, manipulator 18, vision system 20, sharpening system 22, vacuum cleaner 110, display 112, speaker 114, modem 116, and stop button 118. Controller 24 may also be configured to receive and/or send signals to one or more of door 46, sensors 50, 52, door lock 58, and/or one or more motors associated with manipulator 18, vision system 20, sharpening system 22, and/or door 46. Controller 24 may be configured to receive and/or send signals through one or more wired connections or wirelessly via, for example, modem 116.

Processor 122 may embody a single or multiple microprocessors, digital signal processors (DSPs), etc. Numerous commercially available microprocessors may be configured to perform the functions of processor 122. Various other known circuits may be associated with processor 122, including power supply circuitry, signal-conditioning circuitry, and communication circuitry.

The one or more memory devices 124 may store, for example, data and/or one or more control routines or instructions for processing the one or more signals received from sensors 50 and 52, and/or to control operations of one or more components of kiosk 10. Memory device 124 may embody non-transitory computer-readable media, for example, Random Access Memory (RAM) devices, NOR or NAND flash memory devices, and Read Only Memory (ROM) devices, CD-ROMs, hard disks, floppy drives, optical media, solid state storage media, etc. Controller 24 may receive one or more input signals from one or more of display 112 or other input devices associated with kiosk 10 and may execute the routines or instructions stored in the one or more memory devices 124 to generate and deliver one or more command signals to one or more components of kiosk 10.

FIG. 2 illustrates an exemplary method 200 of operation of kiosk 10. The order and arrangement of steps of method 200 is provided for purposes of illustration. As will be appreciated from this disclosure, modifications may be made to method 200 by, for example, hiding, or combining, removing, and/or rearranging the steps of method 200. Method 200 may be executed by controller 24.

In operation, a user (e.g. customer) may initiate an interaction with kiosk 10 by, for example, pressing a “start” button displayed on, for example, a touch-screen display 112, or by touching the touch-screen display 112. Display 112 may send a signal to controller 24 indicating pressing of the “start button” or detection of a touch on display 112. In response, controller 24 may issue a signal to the door motor 48 to open door 46 by raising it vertically. Controller 24 may monitor signals from sensors 50 and 52 to determine whether door 46 has reached its open position. Controller 24 may also prompt the user via speaker 114. For example, controller 24 may employ a text-to-speech recording that says “please lay your knives on the cutting board inside the black square, and pull the door closed.”

Method 200 may include a step of detecting knife 42 on board 16 (step 202). In step 202, controller 24 may activate camera 80, which may observe board 16, for example, by obtaining images of board 16. Camera 80 may send a signal to controller 24 based on a combination of recognizing motion and the placement of knives on board 16. In response, controller 24 may prompt the user with another text-to-speech recording saying, for example, “pull the door closed when ready.” It is contemplated that in some exemplary embodiments, when a user pulls or touches door 46, controller 24 may activate door motor 48 to slide door 46 to its closed position. Controller 24 may monitor sensors 50 and 52 to determine whether door 46 has been closed. Controller 24 may initiate a payment capture process once controller 24 has detected that door 46 has been closed.

During the payment capture process, camera 80 may visually scan board 16. For example, a user may place just one knife 42 or a plurality of knives 42 on board 16. Camera 80 in cooperation with controller 24 may use machine vision algorithms to identify a number (i.e. how many knives), shapes, sizes, and/or types of knives 42 on board 16. Camera 80 may be configured to observe a background in an image of board 16 and determine that one or more knives 42 are present on board 16 based on occlusion of the background. In one exemplary embodiment, camera 80 may observe wood grain features on board 16 and detect knives on board 16 based on an occlusion of the wood grain features. Controller 24 may also learn and adapt to changes in the background (e.g. wear or fading of the wood grain features over time).

In step 202, controller 24 may also determine a price for sharpening knives 42 based on the determined number, size, and type of knives 42. Controller 24 may cause display 112 to display an image of each knife 42, type of knife, and price for sharpening knife 42. Controller 24 may also display a total price. FIG. 2 illustrates an exemplary graphical user interface (GUI) 130 that may be displayed to a user on display 112 and showing that three knives 42 are present on board 16. GUI 130 may include title area 132. In one exemplary embodiment as illustrated in FIG. 2, the title may be displayed as “KNIVES TO SHARPEN.” It is contemplated that other text messages, or a combination of images and text messages may be displayed in title area 132. GUI 130 may also include, knife image area 134, knife type identification area 136, price area 138, and total price area 140 corresponding to each knife displayed on GUI 130. For example, as illustrated in FIG. 2, GUI 130 displays three different knives whose images are shown in image area 134. The images in image area 134 may be obtained by camera 80. As also illustrated in the exemplary embodiment of FIG. 2, each of the knives is identified in knife type identification area 136. For example, as illustrated in FIG. 2, the three knives are identified in knife type identification area as 9″ BREAD KNIFE, 12″ CHEF KNIFE, and 9″ CHEF KNIFE. The knife type may be identified using text, graphical symbols, or a combination of text and graphical symbols. A price for sharpening each knife 42 may be displayed on GUI 130 in price area 138. For example, as illustrated in FIG. 2, a price of “$5.00” is displayed for the 9″ BREAD KNIFE, whereas a price of “$3.00” is displayed for each of the chef knives. GUI 130 may include a total price area 140 that may display a total price for sharpening the knives on board 16. For example, as illustrated in FIG. 2, a total price of “$11.00” is displayed in total price area 140 for sharpening the three knives displayed on GUI 130.

GUI 130 may also include buttons 142 and 144. Button 142 may be displayed corresponding to every knife displayed in GUI 130. For example, button 142 may include text “SKIP” as illustrated in the exemplary embodiment of FIG. 2. Button 142 may allow a user to forego sharpening of the particular knife displayed on GUI 130. That is activating button 142 associated with knife 42 may remove that knife 42 from a list of knives 42 selected for sharpening by a user.

In one exemplary embodiment, controller 24 may receive a signal when a user activates button 142. Controller 24 may alter GUI 130 in response to activation of button 142. FIG. 3 illustrates an exemplary embodiment of GUI 130, when a user has activated button 142 associated with, for example, the 12″ CHEF KNIFE displayed on GUI 130. Controller 24 may alter GUI 130 so that the price associated with sharpening the 12″ CHEF KNIFE will change its appearance. For example, in one exemplary embodiment, the price may be displayed in a different font or color. It is contemplated that the price area 138 may additionally or alternatively have different background highlighting in any desired color, or a graphical symbol or mark (e.g. strikethrough) may be overlaid on the price to indicated that the user has decided to forego sharpening of that particular knife. In addition, controller 24 may replace button 142 with button 146 when a user activates button 142. As illustrated in the exemplary embodiment of FIG. 3, for example, button 142 corresponding to the 12″ CHEF KNIFE displayed on GUI 130 may be replace by button 146 that includes the text “RE-ADD,” indicating to the user that previously deselected knife 42 may be reselected for sharpening in kiosk 10. In addition, controller 24 may revise the total price displayed in total price area 140. For example, as illustrated in FIG. 3, the total price is revised to display “$8.00” corresponding to the remaining two knives on GUI 130, for example, by subtracting the price of $3.00 of sharpening the 12″ CHEF KNIFE.

The user has the option to include a previously excluded knife 42 for sharpening if the user changes his/her mind. For example, on GUI 130 as illustrated in FIG. 3, the user may activate button 146 to indicate that the 12″ CHEF KNIFE should be re-added to the list of knives 42 to be sharpened. In response to activation of button 146, controller 24 may again display the price for sharpening the knife in price area 138 using normal display parameters. For example, the price for the 12″ CHEF KNIFE may be displayed as shown in FIG. 2. Additionally, controller 24 may replace button 146 with button 142 again including the text “SKIP” as illustrated in FIG. 2. And, controller 24 may revise the total price and display the updated total price in total price area 140 as illustrated in FIG. 2.

Once the user is satisfied with the selection of knives to be sharpened, the user may actuate button 144. As illustrated in the exemplary embodiments of FIGS. 2 and 3, button 144 includes the text “CHECKOUT.” When controller 24 detects that button 144 has been actuated, controller 24 may initiate a payment process via payment capture device 14. Controller 24 may receive a signal from payment capture device 14 that the user has completed payment for sharpening the knives. In response, controller 24 may activate door lock 58 to lock door 46 so that it may not be opened by the user.

Returning to FIG. 2, method 200 may include a step of picking up knife 42 (step 204). In step 204, controller 24 may activate manipulator 18 and cause end effector 66 to grasp handle 70 or non-sharp side 72 of knife 42 on board 16. Controller 24 may also cause manipulator 18 to pick up knife 42 from board 16. Before picking up knife 42, controller 24 may store, in memory 124, information regarding a position and/or orientation of knife 42 on board 16. Method 200 may include a step of orienting knife 42 in a first position (step 206). In step 206, controller 24 may cause manipulator 18 to orient knife 42 in a first position. In one exemplary embodiment, the first position may correspond to orienting knife 42 so that it is oriented vertically in front of camera 82 with cutting edge 74 facing camera 82.

Method 200 may include a step of scanning cutting edge 74 of knife 42 (step 208). In step 208, controller 24 may cause camera carriage 84 to move camera 82 generally parallel to a major axis 150 (see FIG. 1). In one exemplary embodiment, when knife 42 is oriented generally in the first position, camera carriage 84 may move camera 82 along a direction generally parallel to major axis 150 of knife 42 without moving knife 42 from the first position. It is contemplated that in other exemplary embodiments, manipulator 18 may be configured to move knife 42 along major axis 150 while maintaining camera 82 at a fixed position without moving camera carriage 84. In yet other embodiments, manipulator 18 and camera carriage 84 may both be configured to move knife 42 and camera 82, respectively, relative to each other and generally parallel to major axis 150. Camera 82 may image cutting edge 74. Controller 24 may store a profile and shape of cutting edge 74 in memory 124. In one exemplary embodiment, the profile may include information and data regarding the relative angular orientation of two side surfaces of knife 42 that intersect to form cutting edge 74. It is contemplated that in some embodiments, camera 80 may perform the functions discussed above in connection with camera 82.

Method 200 may include a step of orienting knife 42 in a second position (step 210). In step 210, controller 24 may cause manipulator 18 to orient knife 42 in a second position. In one exemplary embodiment, the second position may correspond to orienting knife 42 so that it is oriented with its major axis 150 generally parallel to sharpening carriage 96. In the second position, controller 24 may also cause manipulator to position knife 42 such that cutting edge 74 of knife 42 may be in contact with at least one sharpening wheel 90.

Method 200 may include a step of sharpening knife 42 (step 212). In step 212, controller 24 may cause a motor associated with sharpening wheel 90 to rotate sharpening wheel 90 at a predetermined speed. Controller 24 may also cause sharpening carriage 96 to move sharpening wheel base 94 along a direction generally parallel to major axis 150 of knife 42 without moving knife 42 from the second position. In some embodiments, controller 24 may additionally or alternatively cause manipulator 18 to move knife 42 generally along major axis 150 so that sharpening wheel 90 may traverse an entire length of cutting edge 74 to reproduce the profile of cutting edge 74 stored in memory 124, for example, in step 208. For example, it is contemplated that manipulator 18 may be configured to move knife 42 along major axis 150 while maintaining sharpening wheel 90 at a fixed position without moving sharpening carriage 96. Alternatively, manipulator 18 and sharpening carriage 96 may both be configured to move knife 42 and sharpening wheel 90, respectively, relative to each other and generally parallel to major axis 150. Camera 80 or 82 may also image cutting edge 74 and compare the cutting edge profile with a previously stored profile of a sharpened knife. It is contemplated that controller 24 may cause sharpening wheel 90 to traverse the entire length of cutting edge 74 one or more times in step 210.

Method 200 may include a step of orienting knife 42 in a third position (step 212). In step 212, controller 24 may move knife 42 so that it may be spaced apart from sharpening wheel 90. Controller 24 may also cause sharpening wheel 90 to stop rotating. Further, controller 24 may cause manipulator 18 to orient knife 42 in a third position. In one exemplary embodiment, the third position may correspond to orienting knife 42 with its major axis 150 generally parallel to polishing carriage 100. In the third position, controller 24 may also cause manipulator to position knife 42 such that cutting edge 74 of knife 42 may be in contact with at least one polishing wheel 92.

Method 200 may include a step of polishing knife 42 (step 216). In step 216, controller 24 may cause a motor associated with polishing wheel 92 to rotate polishing wheel 92 at a predetermined speed. Controller 24 may also cause polishing carriage 100 to move polishing wheel base 98 along a generally direction generally parallel to major axis 150 of knife 42 without moving knife 42 from the third position. In some embodiments, controller 24 may additionally or alternatively cause manipulator 18 to move knife 42 so that polishing wheel 92 may traverse an entire length of cutting edge 74. For example, it is contemplated that manipulator 18 may be configured to move knife 42 along major axis 150 while maintaining polishing wheel 92 at a fixed position without moving polishing carriage 100. Alternatively, manipulator 18 and polishing carriage 100 may both be configured to move knife 42 and polishing wheel 92, respectively, relative to each other and generally parallel to major axis 150. Camera 80 or 82 may also image cutting edge 74 and compare the imaged profile of cutting edge 74 with a previously stored profile of a sharpened knife 42 to determine whether knife 42 has been sharpened. It is contemplated that controller 24 may cause polishing wheel 92 to traverse the entire length of cutting edge 74 one or more times in step 216.

Method 200 may include a step of replacing knife 42 on board 16 (step 218). In step 218, controller 24 may move knife 42 so that it may be spaced apart from polishing wheel 92. Controller 24 may also cause polishing wheel 92 to stop rotating. Controller may cause manipulator 18 to position knife 42 on board 16 so that a position and/or orientation of the knife matches the position and/or orientation, respectively, stored in memory 124, for example, in step 204. Controller 24 may also move fingers 68 of end effector 66 to release handle 70 of knife 42. Controller 24 may repeat steps 204 through 218 for each knife 42 detected by controller 24 in, for example, step 202. When all the knives have been sharpened and returned to their original positions, controller 24 may inform the user that the process is complete. Controller 24 may do so by providing an audio recording via speaker 114. Additionally or alternatively, controller 24 may cause text to be displayed on display 112 informing the user that the sharpening process is complete. Controller 24 may also deactivate door lock 58 and cause door motor 48 to slidingly open door 46. The user may be able to retrieve knives 42 from board 16 once door 46 has reached its open position.

Kiosk 10 may include a demo (i.e. demonstration) mode. In the demo mode, when kiosk 10 is not serving a customer, manipulator 18 may go through process steps 204 through 218 using one or more of the demo knives present in kiosk 10.

The disclosed kiosk 10 and method 200 may provide several advantages. For example, the disclosed kiosk 10 and method 200 may help automate the complicated task of sharpening knives with better-than-human skill and results, while enhancing safety, convenience, speed, and profitability. The disclosed kiosk 10 and method 200 may provide self-service to a customer, without any assistance required from a store clerk or otherwise trained or professional human operator.

It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed knife sharpening kiosk. Other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the disclosed knife sharpening kiosk. It is intended that the specification and examples be considered as exemplary only, with a true scope being indicated by the following claims and their equivalents. 

What is claimed is:
 1. A self-service knife-sharpening kiosk, comprising: a housing; a board located within the housing and configured to receive at least one knife; an imaging device configured to scan a cutting edge of the at least one knife; a sharpening wheel configured to sharpen the cutting edge; and a manipulator disposed within the housing and configured to: pick up the at least one knife from the board; orient the at least one knife in a first position adjacent the imaging device such that the imaging device scans the cutting edge of the at least one knife; orient the at least one knife in a second position such that the cutting edge of the knife contacts the sharpening wheel; and replace the at least one knife on the board.
 2. The self-service kiosk of claim 1, wherein the manipulator includes an end effector configured to grasp a handle of the at least one knife.
 3. The self-service kiosk of claim 1, wherein the manipulator is a multi-axis robotic manipulator.
 4. The self-service kiosk of claim 1, wherein the manipulator includes: a base attached to the housing; a pivot arm movably attached to the base; a gripper arm movably attached to the pivot arm; and an end effector attached to a free end of the gripper arm.
 5. The self-service kiosk of claim 1, further including a camera carriage configured to move the imaging device parallel to a major axis of the knife.
 6. The self-service kiosk of claim 5, wherein the imaging device is configured to: detect a profile and a shape of the cutting edge; and store the detected profile and the detected shape in a memory.
 7. The self-service kiosk of claim 1, further including a sharpening wheel carriage configured to move the sharpening wheel in a direction generally parallel to a major axis of the knife.
 8. The self-service kiosk of claim 1, further including a polishing wheel configured to polish the cutting edge.
 9. The self-service kiosk of claim 8, wherein the manipulator is further configured to orient the knife in a third position such that the cutting edge of the knife contacts the polishing wheel; and move the polishing wheel in a direction generally parallel to a major axis of the knife.
 10. The self-service kiosk of claim 1, further including: an opening in the housing, the opening being configured to permit placement of the at least one knife on the board; and a door configured to selectively open or close the opening.
 11. The self-service kiosk of claim 10, further including a sensor configured to detect at least one of an open position and a closed position of the door.
 12. The self-service kiosk of claim 1, further including a cleaning device configured to remove debris within the housing.
 13. The self-service kiosk of claim 1, further including: a display configured to display a graphical user interface to a user and receive at least one input from the user; and a payment interface configured to receive payment from the user for sharpening of the at least one knife.
 14. The self-service kiosk of claim 1, further including at least one demo knife.
 15. A method of sharpening at least one knife, the method comprising: receiving at least one knife on a board associated with a self-service knife sharpening kiosk; detecting the at least one knife on the board using a first camera; picking up the at least one knife, using a manipulator; orienting, using the manipulator, the at least one knife in a first position; scanning a cutting edge of the at least one knife using a second camera when the at least one knife is oriented in the first position; orienting, using the manipulator, the at least one knife in a second position in contact with a sharpening wheel; traversing the sharpening wheel relative to the cutting edge while maintaining contact between the sharpening wheel and the knife; and replacing the knife on the board using the manipulator.
 16. The method of claim 15, further including: orienting, using the manipulator, the at least one knife in a third position in contact with a polishing wheel; and polishing the cutting edge by traversing the polishing wheel relative to the cutting edge while maintaining contact between the polishing wheel and the cutting edge.
 17. The method of claim 15, wherein the cleaning device is a vacuum cleaner, the method further including: grasping a vacuum cleaner duct associated with the vacuum cleaner using the manipulator; moving, using the manipulator, the vacuum cleaner duct over at least a portion of the housing; and suctioning the debris from the housing into the vacuum cleaner via the vacuum cleaner duct.
 18. The method of claim 15, further including: opening a door covering an opening of the housing, the opening being configured to allow a user to place a knife on the board; closing the door after detecting the at least one knife on the board using the first camera; picking up the at least one knife, using the manipulator, after closing the door; and opening the door after replacing the knife on the board.
 19. The method of claim 15, further including: determining a number of knives on the board; determining a total price based on the number; displaying, using a display associated with the housing, an image of each knife on the board and the price associated with the each knife.
 20. The method of claim 15, wherein the at least one knife includes a plurality of knives selected for sharpening, the method further including displaying on the user interface, a button configured to remove a knife from the plurality of knives selected for the sharpening. 